Saying "do you want to come back to my room for sex?" is not going to change society, it's just going to make you personally come off as a creep.
I'm not sure its always creepy, not if you've already kissed them. Depends on circumstances. Inviting someone in for coffee and then trying to fuck them can be pretty creepy too.
But I agree that I can't change society, and so I might as well conform to the rules.
It's almost always creepy in the context of an early relationship: whether you've kissed or not, it's a strong signal of contempt for or unfamiliarity with sexual norms. About the only exceptions I can think of would occur in very sex-positive cultures with very strong norms around explicit verbal negotiation. There aren't many of those cultures, and even within them you'd usually want some strong indications of interest beforehand.
On the other hand, if you've invited someone up for coffee (or just said "do you want to come back to my place?",...
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